Difference between revisions of "Projects vvv2014"

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(Exploration of tools and objects affordances (in the context of Poeticon++))
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Goal: Perform a set of actions on objects using tools, recording visual descriptors of tools, objects, and effects of the action.
 
Goal: Perform a set of actions on objects using tools, recording visual descriptors of tools, objects, and effects of the action.
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== Incremental Learning applications on iCub using the GURLS++ package ==
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The goals of the project are the following:
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* Implement a numerically stable incremental RLS update rule (cholupdate) in the GURLS++ framework.
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* Already tested in MATLAB, replicating the work by Gijsberts et al.: ‘Incremental Learning of Robot Dynamics using Random Features’
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* Design and develop a simple prototypical YARP module to serve as an interface with the robot
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* Run an on-line inverse dynamics learner on the real robot
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<gallery>
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File:Immagine1.png|A (very!) preliminary sketch of the application to be run on the real robot.
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File:Immagine13123122.png|The incremental random features regularized least squares (IRFRLS) algorithm.
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</gallery>
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Resources
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* The GURLS++ package (see http://lcsl.github.io/GURLS/index.html)
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* Previous work on non-parametric learning of the inverse dynamics of the iCub arm by Arjan Gijsberts (see http://www.iit.it/images/images/icub-facility/docs/theses/gijsberts.pdf)

Revision as of 02:05, 26 July 2014

Please populate this page with the name of the project, the name of the people that participate in the project and a short description of what the project aims to do and what individual people are planning to do within the group. A group can be made by an individual person or more.

It is important that everybody works towards something, no matter how simple or complex.

Wysiwyd

People:

  • Stephane: sensorimotor contingencies using SOMs that match other SOMs
  • ...
  • ...

Goal of the project:

...

Exploration of tools and objects affordances (in the context of Poeticon++)

People: Afonso, Lorenzo, Tanis, Vadim

Goal: Perform a set of actions on objects using tools, recording visual descriptors of tools, objects, and effects of the action.

Incremental Learning applications on iCub using the GURLS++ package

The goals of the project are the following:


  • Implement a numerically stable incremental RLS update rule (cholupdate) in the GURLS++ framework.
  • Already tested in MATLAB, replicating the work by Gijsberts et al.: ‘Incremental Learning of Robot Dynamics using Random Features’
  • Design and develop a simple prototypical YARP module to serve as an interface with the robot
  • Run an on-line inverse dynamics learner on the real robot


Resources